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Journal : IPTEK Journal of Proceedings Series

Design of Tracking System and Disturbance Rejection using Neural Networks for Autonomous Underwater Vehicle (AUV) Abdul Muis Prasetia; Trihastuti Agustinah; Joko Susila
IPTEK Journal of Proceedings Series No 1 (2015): 1st International Seminar on Science and Technology (ISST) 2015
Publisher : Institut Teknologi Sepuluh Nopember

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.12962/j23546026.y2015i1.1141

Abstract

Autonomous Underwater Vehicle (AUV) is under-actuated system with highly nonlinear dynamic and Multi Input Multi Output (MIMO). AUV has stability problem due to external disturbance. These characteristics cause the AUV is difficult to be controlled and to track the reference signal automatically. Based on these problems, this paper present tracking control design and disturbance rejection using Neural Networks for AUV with 6 Degree of Freedom (DOF). The proposed control system is used to generate control signals to overcome the nonlinear dynamics of AUV. The reference signal is processed using Line of Sight (LOS) method to obtain the desired yaw of AUV. Simulation results show that the AUV is able to track the reference signal even in the presence of ocean current disturbance.
Co-Authors Abdul Saad Abil Huda Achmad Budiman Aidil, Rachmad Akbar, Muhammad Allriz Al Amin Hanifa Muslim Al Ma'ruf Al Ma'ruf Andika Andika Ariel E San Jose Asta, Asta Awaludin, Awaludin Boby Setiawan Budiman, Achmad Christine Dyta Nugraeni Danny Arans Sevri Andika Dedy Harto Dody Asmara Eko Prihartanto Emirwati, Andie Faizal, Rahmat Ferdiayansyah, Ferdiayansyah Fidarwati Fitri Handayani Fitriani Fitriani Gazali Salim Hadi Santoso Hanafi, Roy Handayani, Rosmalia Hasdiah, Miftahulhuda Primananda Hendri B Hidaya, Nurman Hironimus Huda, Abil ishak Edison Nanda Nicholas Ismit Mado Joko susila Julian Ransangan Mado, Ismit MMSI Irfan ,S. Kom Muhammad Deval Efendi Muhammad Firdaus Muhammad Yunus Mujiyanto Mujiyanto Mukhlis Nur Mustang, Anita Nawir, Daud Nicholas, ishak Edison Nanda Noviyansyah, Tri Novtandy, Tegar Nur Faizah Nur Liya Nur liya Nurdamayanti, Nurdamayanti Nurdin, Muhammad Firdan Nurholifah, Siti Patria Julianto Prihartanto, Eko Muis Rachmad Aidil Rahma Nur Amalia Ramadhan Sudirman, Fitri Ramadhani, Alfian Rasmin Rasmin Rasmin, Rasmin Retno Hartati Riska, Ade Rozi Rudy Rudy Rukisah, Rukisah Said, Fitriani Samanta, Rizal Sanjaya, Dhani Sari, Lela Nofita Sartika, Linda Satria, Adjie Sejati, joko Selama, Selama SETIAWAN, Ahmad Setiyawan, Muhammad Dicky Siti Nurholifah Sitti Hartinah DS Soba, Andi Dian Lasarasi Sugeng Riyanto Sugeng Riyanto Sukma Sukma suriadi suriadi Suwarni Suwarni Syahfrizal Tahcfulloh Syamri, Mohammad Syarif, Iif Ahmad Tamrin Toha Temu, Natalis Laga Suban Tirvan Totok Hariyanto Tri Widodo Trihastuti Agustinah Vebryan, Ebiet Virgasha, Megasyafira Fajra